EP1447226A1

EP1447226A1 - Calibrating alignment errors

Info

Publication number: EP1447226A1
Application number: EP04250798A
Authority: EP
Inventors: Hyoung-Il Kim; Kyung-Pyo Kang
Original assignee: Samsung Electronics Co Ltd
Current assignee: Samsung Electronics Co Ltd
Priority date: 2003-02-14
Filing date: 2004-02-13
Publication date: 2004-08-18
Anticipated expiration: 2024-02-13
Also published as: CN1521002A; US20040160468A1; EP1447226B1; KR100490427B1; CN1286662C; DE602004024609D1; KR20040073730A; US7478894B2

Abstract

A print alignment error between a first printhead (21) of a first ink cartridge (20) and a second printhead (31) of a second ink cartridge (30) installed in an inkjet printer is calibrated by printing preset test patterns on a paper according to an input correction signal using the first and second printheads, scanning the printed test patterns, measuring positions of a starting point and an end point of each of the scanned test patterns, calculating a horizontal print alignment error between the first and second printheads from the starting points, calculating a vertical print alignment error between the first and second printheads from the starting points and the end points, and calibrating the calculated horizontal and vertical print alignment errors.

Description

The present invention relates to a method of calibrating a print alignment error between first and second printheads of first and second ink cartridges, respectively, installed in an inkjet printer, the method comprising printing at least one preset test pattern with each of the first and second printheads. The invention relates also to corresponding apparatus.
In general, a colour inkjet printer uses two or more ink cartridges. Accordingly, when an image is printed, an alignment error of an image may be generated due to an alignment error of a printhead of the ink cartridge. The alignment error of an image can be divided into vertical alignment error and horizontal alignment error components. They result when nozzles of the printhead are not uniformly arranged, and an error then occurs when an inkjet cartridge is reciprocated in a direction perpendicular to the direction in which print paper is passed.
A conventional method of calibrating the alignment error is shown in Figures 1A and 1B. Referring to Figure 1, while an ink cartridge is moved in one direction, a test pattern having lines, of which intervals are increase or decrease at a regular pace, is printed on a page where a reference pattern having lines at the same interval is already printed. A user determines which one of the lines of the test pattern is most aligned with a corresponding one of the lines of the reference pattern. Then, the number of the selected test pattern line and the number of the reference pattern line corresponding thereto are input to a manual calibration apparatus. A length between a reference line and the selected test pattern line is compared to a length between the reference line and the selected reference pattern line so that a horizontal alignment error is measured and calibrated. In Figure 1A, the line 6 of the reference pattern and the line 6 of the test pattern are most aligned.
Referring to Figure 1B, while a feeding roller is moved, a test pattern having lines, of which intervals increase or decrease at a regular rate from a reference line, for example, a uppermost line of the test pattern, is printed on a page where a reference pattern having lines at the same interval has been already printed in a vertical direction. The user selects one of the lines of the test pattern which is most aligned with a corresponding one of the lines of the reference pattern. Then, the number of the selected test pattern line and the number of the reference pattern line corresponding thereto are input to the manual calibration apparatus. A length between a reference line and the selected test pattern line is compared to a length between the reference line and the selected reference pattern line so that a vertical alignment error is measured and calibrated. In Figure 1B, the line 6 of the reference pattern and the line 6 of the test pattern are most aligned.
However, in the conventional technology, the user needs to check a position of each line to confirm an alignment state of the test pattern. Thus, the alignment state of the lines of the test pattern is dependent on the judgement of the user, resulting in possible error, especially if a misaligned line is selected. Also, only when the reference line of the test pattern exactly matches the reference line of the reference pattern is accurate calibration possible.
Furthermore to implement this method automatically would require a high resolution optical sensor.
The method of the invention is characterised by:
scanning across the printed test patterns;
measuring positions of starting points and end points of the scanned test patterns;
calculating a horizontal print alignment error using at least one measured position from each of the scanned test patterns;
calculating a vertical print alignment error using at least one measured position from each of the scanned test patterns; and
calibrating the printheads based on the calculated horizontal and vertical print alignment errors.
The operation of printing the preset test patterns may comprise printing the test patterns within a single swath of the paper. The test patterns may include a triangular shape. Preferably, the test patterns comprise a rectangle shape and a triangle shape connected together. The inkjet printer may comprise a carriage where the first and second cartridges are included, and scanning can be performed by an optical sensor attached to the carriage. The measuring step can comprise reading scales of an encoder strip included with the carriage.
Calculating the horizontal print alignment error can comprise calculating the distance between the at least one measured position from each of the scanned test patterns, and comparing the result with an expected distance. Here, the method can comprise printing N units of the test patterns with each printhead, and calculating an average horizontal print alignment error with respect to N pairs of the test patterns.
Calculating the vertical print alignment error may comprise comparing the distance between the starting and end points on one test pattern with the distance between the starting and end points on the other test pattern. It may additionally comprise calculating a height of each triangle by dividing the distance between the starting and end points on the respective test pattern by a trigonometric function of a known angle  of the triangle. In either case, the method may comprise printing N units of the test patterns with each printhead, and calculating an average vertical print alignment error with respect to N pairs of the test patterns.
Calibrating the printheads may comprise calibrating a printing position of the second ink cartridge with respect to the first ink cartridge. Alternatively, calibrating the printheads can comprise adjusting a time to eject ink from nozzles of the one of the ink cartridges to adjust the horizontal print alignment error.
One of the ink cartridges may comprise nozzles through which a print file is printed, and the operation of calibrating the calculated horizontal and vertical print alignment errors comprises moving a position of the print file to correspond to the horizontal print alignment error and/or the vertical print alignment error.
A second aspect of the invention provides printer apparatus operable to perform any of the above methods.
The invention will now be described by way of example with reference to the accompanying drawings, of which:
Figures 1A and 1B are views illustrating conventional test patterns for determining manually print alignment error;
Figure 2 is a view partially illustrating a structure of an inkjet printer performing a method of calibrating a print alignment error in an inkjet printer according to the invention;
Figure 3 is a view illustrating an example of a test pattern used in the invention;
Figure 4 illustrates calculations performed in carrying out the invention;
Figure 5 is a view illustrating a method of measuring an average horizontal alignment error and a vertical alignment error according to the invention; and
Figure 6 is a flow chart explaining a method according to the invention.
Figure 2 illustrates a structure of an inkjet printer performing a method of calibrating a print alignment error according to the invention. Referring to Figure 2, the inkjet printer includes a carriage 10 running in a printing (scanning) direction Y perpendicular to a paper path direction X in which paper is passed and disposed above a platen (not shown) where the paper is placed. A plurality of ink cartridges 20 and 30 (two ink cartridges shown in Figure 2) are mounted on the carriage 10 in parallel. Printheads 21 and 31 having a plurality of nozzles 22 and 32 are arranged in a lower portion of the ink cartridges 20 and 30. The two ink cartridges 20 and 30 are, for example, mono and colour ink cartridges M and C.
An encoder strip 40 having a linear scale is arranged in the direction Y separated by a predetermined distance from the cartridges 20 and 30. A plurality of straight scale marks 42 spaced at the same interval are printed on the encoder strip 40. A linear encoder sensor 43, provided on the carriage 10, can detect a position of the carriage 10 running in the direction Y. The linear encoder sensor 43 generates a pulse signal whenever the linear encoder sensor 43 passes a straight scale mark 42 of the encoder strip 40 with the carriage 10, and send the pulse to a control portion 60.
An optical sensor 14 detecting an image of the paper on the platen is provided on the carriage 10 to move together with the carriage 10. The carriage 10 is fixed to a circulation belt 45, and a rotary encoder 49 is connected to a rotation shaft of a motor 47 to drive the circulation belt 45.
The control portion 60 calculates an alignment error from the measured data and transmits signals corresponding to the measured data to control a first printhead control portion 71 and a second printhead control portion 72.
Figure 3 shows a view illustrating an example of a test pattern used in a method of calibrating a print alignment error in an inkjet printer according to one embodiment of the invention. Referring to Figures 2 and 3, a test pattern is made of a combination of a predetermined quadrangular shape and a predetermined triangular shape which are printed on the paper using ink from the nozzles 22 and 23 of each of the respective printheads 21 and 31. A vertical and horizontal alignment method using the triangular test pattern is disclosed. The quadrangular shape facilitates measurement by the optical sensor 14. That is, that a highly sensitive optical sensor 14 is needed to detect a line in conventional technology, which imposes a financial burden. Here, though, a quadrangular pattern is used, so a highly sensitive optical sensor is not needed.
The test pattern is preferably formed within a single swath so that it is formed by one pass of the ink cartridge 10. Each test pattern includes two parallel lines running in the print direction, which lines have different lengths. The ends of these lines are connected to the corresponding ends of the other line by divergent lines. One of these divergent lines is perpendicular to the print direction. The test patterns can be considered as a rectangle and a triangle connected together on a common side which runs perpendicular to the printing direction. Each line may be formed with a plurality of ink dots disposed adjacent to each other.
Figure 4 shows a method of calibrating an alignment state using the test pattern of Figure 3. Figure 5 shows a method of measuring an average horizontal alignment error and a vertical alignment error according to the invention.
Referring to Figures 2 through 4, a mono test pattern M and a colour test pattern C corresponding thereto are printed on the paper. While the carriage 10 runs over the printed patterns M and C, starting points Xms and Xcs where a dotted line D, which shows the line read by the optical sensor 14, crosses with the test patterns M and C are measured by using the encoder sensor 43 and the optical sensor 14. The distance between the patterns is measured by subtracting the position of the starting point Xms of the mono test pattern M from the starting point Xcs of the colour test pattern C. The measured distance is Xcs-Xms. When reference starting points of the mono test pattern M and the colour test pattern C are set to Sms and Scs, respectively, a horizontal print alignment error Eh from the nozzles 22 and 32 of the respective printheads 21 and 31 of the mono ink cartridge 20 and the colour ink cartridge 30 is represented by Equation 1. Eh=(Scs-Sms)-(Xcs-Xms)
Referring to Figure 5, N units of mono test patterns M and N units of colour test patterns C are printed corresponding to each other. A horizontal alignment error between each colour test pattern C and a corresponding mono test pattern M is calculated using the same method as Equation 1. Thus, an average obtained by calculating the respective horizontal alignment errors between the N pairs of the colour test pattern C and the mono test pattern M is expressed by Equation 2.
Next, a method of obtaining a vertical alignment error is described below.
Referring to Figures 2 through 4, as described above, the mono test pattern M and the colour test pattern C are printed at a predetermined spacing. While the carriage 10 runs over the printed patterns M and C, starting points Xms and Xcs and end points Xme and Xce where the dotted line D crosses the respective test patterns M and C are read and measured by the optical sensor 14 using the pulse signal read by the encoder sensor 43. Widths Wm and Wc where the respective test patterns M and C cross the dotted line D, which is the line scanned by the optical sensor 41, are calculated by subtracting the starting points Xms and Xcs from the end points Xme and Xce of the respective test patterns M and C. By subtracting a predetermined width Wret of the quadrangle from the widths Wm and Wc, widths Wm_tri and Wc_tri of the triangles formed in the respective test patterns M and C crossing the dotted line D, are calculated using Equation 3.
Also, since an angle  of a triangle of each test pattern M or C is preset, a height of the triangle from the scanned dotted line is obtained by Equation 4.
Thus, the vertical alignment errors of the mono test pattern M and the colour test pattern C are expressed as in Equation 5. Ev=Hc-Hm=(Wc_tri-Wm_tri)/tan
Referring to Figure 5, the N units of the mono test patterns M and the N units of the colour test patterns C are printed corresponding to each other. A vertical alignment error between the colour test pattern C and a corresponding mono test pattern M is calculated using Equation 5. Thus, an average obtained by calculating the respective vertical alignment errors between the N pairs of the colour test pattern C and the mono test pattern M is expressed by Equation 6.
The method of calibrating a print alignment error in an inkjet printer according to another embodiment of the present invention will now be described in detailed with reference to the accompanying drawings.
Figure 6 is a flow chart illustrating a method of calibrating a print alignment error in an inkjet printer according to another embodiment of the present invention.
Referring to Figures 2 through 6, in a printer having the two ink cartridges 20 and 30, it is checked whether a command to calibrate a print alignment error between the two ink cartridges 20 and 30 is input from an external source to the control portion 60in operation 101.
When the command to calibrate the print alignment error is received in operation 101, a preset test pattern comprising two test patterns corresponding to each other, are printed on paper using the ink cartridges 20 and 30 in operation 102. That is, N units of the mono test pattern M are printed and then N units of the colour test pattern C are printed on the same swath of the paper. The shapes of the mono and colour test patterns M and C are preferably trapezoidal in which one side is rectangular and the other side is triangular.
Next, while the carriage 10 moves in the direction Y, the printed test patterns M and C are scanned by the optical sensor 14, attached to the carriage 10, in operation 103. The scale mark 42 of the encoder strip 40 are measured by the linear encoder sensor 43 to detect the position of the carriage 10 moving along the printing (scanning) direction with respect to the encoder strip 40. That is, a pulse signal generated when the encoder sensor 43 passes each scale mark 42 of the encoder strip 40 is transmitted to the control portion 60.
The control portion 60 compares the number of pulses detected by the encoder sensor 43 and the starting points Xms and Xcs and the end points Xme and Xce of each of the test patterns M and C input via the optical sensor 14, to measure the positions of the starting points Xms and Xcs and the end points Xme and Xce of the respective test patterns in operation 104.
Next, the horizontal distance between the corresponding test patterns M and C is calculated by subtracting the starting points Xms of the first mono test pattern M from the starting point Xcs of the first colour test pattern C. A horizontal alignment error Eh generated by the printheads is calculated by obtaining the difference between the calculated distance and a previously stored distance Scs - Sms between the test patterns M and C. When the above operation is repeated with respect to the N pairs of the printed mono test pattern M and the colour test pattern C, and an average thereof is calculated, an average print horizontal alignment error (refer to Equation 2) by the nozzles 22 and 32 of the printheads 21 and 31 of the respective colour ink cartridge 30 and the mono ink cartridge 20 in the inkjet printer is calculated in operation 105.
The widths Wm and Wc where the test patterns M and C and the scanned line D cross are calculated by subtracting the starting points Xms and Xcs from the end points Xme and Xce of the respective test patterns M and C. The width Wm_tri and Wc_tri of the triangles where the respective test patterns M and C and the dotted line D cross are calculated by subtracting the preset width Wret of the rectangle from the widths Wm and Wc (refer to Equation 3). Also, since one angle  of the triangle of each of the test patterns M and C is known, the heights Hm and Hc of the triangles can be calculated (refer to Equation 4). Thus, the vertical alignment error Ev between the mono test pattern M and the corresponding colour pattern C is calculated (refer to Equation 5). When the above operation is repeated with respect to the N pairs of the printed mono test pattern M and the colour test pattern C and an average thereof is calculated, an average print horizontal alignment error (refer to Equation 6) from the nozzles 22 and 32 of the printheads 21 and 31 of the respective colour ink cartridge 30 and the mono ink cartridge 20 in the inkjet printer is calculated in operation 106.
Next, to calibrate the measured horizontal and vertical alignment errors between the different printheads, the colour ink cartridge 30 is calibrated with respect to the mono ink cartridge 20. Also, the mono ink cartridge 20 can be calibrated with respect to the colour ink cartridge 30. To calibrate the horizontal alignment error, an ink injection time of the nozzle 32 of the colour ink cartridge C is adjusted to reflect the time corresponding to the error. Also, according to the horizontal alignment error, an image of a print file printed by the colour ink cartridge 30 and provided to print from an outside source can be shifted in operation 107.
In the meantime, in order to calibrate the vertical alignment error, an image of the colour ink cartridge of the print file provided to the print can be shifted corresponding to the horizontal alignment error.
Although the vertical alignment error is measured after the horizontal alignment error is measured in the above embodiment, the measurements of the horizontal alignment error and the vertical alignment error are separately performed so the order may be changed without affecting the result.
An inkjet printer having three or more ink cartridges can be calibrated using the invention. Here, it is possible to calibrate errors by selecting a reference ink cartridge and performing calculations with each of the other ink cartridges in turn. Also, the above method can be applied to an inkjet printer using two mono ink cartridges.
It will be appreciated that the embodiments are illustrative only and not limiting, and that the scope of the invention is defined by the claims.

Claims

A method of calibrating a print alignment error between first and second printheads of first and second ink cartridges, respectively, installed in an inkjet printer, the method comprising printing at least one preset test pattern with each of the first and second printheads,
the method being characterised by:

scanning across the printed test patterns;

measuring positions of starting points and end points of the scanned test patterns;

calculating a horizontal print alignment error using at least one measured position from each of the scanned test patterns;

calculating a vertical print alignment error using at least one measured position from each of the scanned test patterns; and

calibrating the printheads based on the calculated horizontal and vertical print alignment errors.
A method according to claim 1, wherein the operation of printing the preset test patterns comprises printing the test patterns within a single swath of the paper.
A method according to claim 1 or claim 2, wherein the test patterns include a triangular shape.
A method according to claim 3, wherein the test patterns comprise a rectangle shape and a triangle shape connected together.
A method according to any preceding claim, wherein the inkjet printer comprises a carriage where the first and second cartridges are included, and scanning is performed by an optical sensor attached to the carriage.
A method according to claim 5, wherein the measuring step comprises reading scales of an encoder strip included with the carriage.
A method according to any preceding claim, wherein calculating the horizontal print alignment error comprises calculating the distance between the at least one measured position from each of the scanned test patterns, and comparing the result with an expected distance.
A method according to any of claim 7, comprising printing N units of the test patterns with each printhead, and calculating an average horizontal print alignment error with respect to N pairs of the test patterns.
A method according to any preceding claim, wherein calculating the vertical print alignment error comprises comparing the distance between the starting and end points on one test pattern with the distance between the starting and end points on the other test pattern.
A method according to claim 9, wherein calculating the vertical print alignment error comprises calculating a height of each triangle by dividing the distance between the starting and end points on the respective test pattern by a trigonometric function of a known angle  of the triangle.
A method according to claim 9 or claim 10, comprising printing N units of the test patterns with each printhead, and calculating an average vertical print alignment error with respect to N pairs of the test patterns.
A method according to any preceding claim, wherein calibrating the printheads comprises calibrating a printing position of the second ink cartridge with respect to the first ink cartridge.
A method according to any of claims 1 to 11, wherein calibrating the printheads comprises adjusting a time to eject ink from nozzles of the one of the ink cartridges to adjust the horizontal print alignment error.
A method according to claim 12, wherein the one of the ink cartridges comprises nozzles through which a print file is printed, and the operation of calibrating the calculated horizontal and vertical print alignment errors comprises moving a position of the print file to correspond to the horizontal print alignment error and/or the vertical print alignment error.
Printer apparatus operable to perform the method of any preceding claim.
A method of calibrating a print alignment error between a first printhead of a first ink cartridge and a second printhead of a second ink cartridge installed in an inkjet printer, the method comprising:

printing preset test patterns on a paper according to an input correction signal by using the first and second printheads, the test patterns having starting points and end points;

scanning the printed test patterns;

measuring positions of the starting points and the end points of the scanned test patterns;

calculating a horizontal print alignment error between the first and second printheads from the starting points of the scanned test pattern;

calculating a vertical print alignment error between the first and second printheads from the starting points and the end points of the scanned test pattern; and

calibrating the calculated horizontal and vertical print alignment errors.
The method of claim 16, wherein the operation of printing the preset test patterns comprises printing the test patterns within a single swath of the paper.
The method of claim 16, wherein the test patterns comprise a shape of a right triangle.
The method of claim 16, wherein the test patterns comprise a rectangle and a right triangle having the same height as the rectangle, and one side of the triangle having the same height as a vertical side of the rectangle is connected to the vertical side of the rectangle.
The method of claim 16, wherein the inkjet printer comprises a carriage where the first and second cartridges are included, and the operation of scanning the printed test patterns is performed by an optical sensor attached to the carriage where the ink cartridges are installed.
The method of claim 20, wherein the cartridge comprises a linear encoder sensor installed thereon, and the measuring of the positions of the starting points and the endpoints comprises:

detecting the positions of the starting point and the end point of the test patterns by reading scales of an encoder strip corresponding to positions where a line scanned by the optical sensor crosses the test patterns, using the linear encoder sensor installed on the carriage.
The method of claim 16, wherein the test pattern comprises first and second test patterns printed by the first and second print heads, respectively, and the operation of calculating the horizontal print alignment error comprises:

subtracting the starting point of the first test pattern by the first ink cartridge from the starting point of the second test pattern printed by the second ink cartridge; and

calculating the horizontal print alignment error from a difference between a value, which is calculated in the operation of subtracting the starting point of the first test pattern printed by the first ink cartridge from the starting point of the second test pattern printed by the second ink cartridge, and a preset distance between the first test pattern and the second test pattern.
The method of claim 22, wherein the first and second test patterns comprise N units of first sub-test patterns and N units of second sub-test pattern, respectively, in the operation of printing preset test patterns printing the N units of the first sub-test patterns using the first printhead and then the N units of the second sub-test patterns using the second printhead on the same swath of the paper, and the operation of calculating the horizontal print alignment error comprises calculating an average horizontal print alignment error with respect to N pairs of the first and second sub-test patterns by repeating the operations of subtracting the starting point of each first sub-test pattern from the starting point of each second sub-test pattern corresponding to the first sub-test pattern to calculate the horizontal print alignment error.
The method of claim 18, wherein the test patterns comprises first and second test patterns having a first triangle and a second triangle, respectively, and the operation of calculating the vertical print alignment error comprises:

calculating a width W2_tri of the second triangle formed by the starting point and the end point by subtracting the starting point from the end point of the second test pattern by the second ink cartridge;

calculating a height H2 of the second triangle using Equation 1 from the width W2_tri and a preset angle  facing the width W2-tri of the second triangle H2=W2_tri/tan

calculating a width W1_tri of the first triangle formed by the starting point and the end point by subtracting the starting point from the end point of the first test pattern by the first ink cartridge;

calculating a height H1 of the first triangle using Equation 2 from the width W1_tri and the preset angle  facing the width W1-tri of the first triangle H1=W1_tri/tan and

calculating the vertical print alignment error by subtracting the height H1 of the first triangle from the height H2 of the second triangle.
The method of claim 24, wherein, the operation of printing preset test patterns comprises printing the N units of the first sub-test patterns using the first printhead and then the N units of the second sub-test patterns using the second printhead, and the operation of calculating the vertical print alignment error comprises calculating an average vertical print alignment error with respect to N pairs of the first and second sub-test patterns by repeating the operations of calculating the width W2_tri of the second triangle, calculating the height H2 of the second triangle, calculating the width W1_tri of a first triangle, calculating the height H1 of the first triangle, and calculating the vertical print alignment error.
The method of claim 19, wherein the operation of calculating the vertical print alignment error comprises:

calculating a width W2_tri of a second triangle by subtracting the starting point and a preset width of the rectangle from the end point of the first test pattern by the second ink cartridge;

calculating a height H2 of the second triangle using Equation 3 from the width W2_tri and a preset angle  facing the width W2-tri of the second triangle H2=W2_tri/tan

calculating a width W1_tri of a first triangle by subtracting the starting point and a preset width of the rectangle from the end point of the first test pattern by the first ink cartridge;

calculating a height H1 of the first triangle using Equation 4 from the width W1_tri and a preset angle  facing the width W1-tri of the first triangle H1=W1_tri/tan and

calculating a vertical print alignment error by subtracting the height H1 of the first triangle from the height H2 of the second triangle.
The method of claim 26, wherein the test patterns comprise N units of first sub-test patterns and N units of second sub-patterns, respectively, the operation of printing preset test patterns, comprises printing the N units of the first sub-test patterns using the first printhead and then the N units of test patterns using the second printhead on the same swath of the paper, and the operation of calculating the vertical print alignment error comprises calculating an average vertical print alignment error with respect to N pairs of the first and second sub-test patterns by repeating the operations of calculating a width W2_tri of the second triangle, calculating a height H2 of the second triangle, calculating a width W1_tri of the first triangle, calculating a height H1 of the first triangle, and calculating a vertical print alignment error according to the widths W1-tri and W2-tri and the highs H1 and H2.
The method of claim 16, wherein the operation of calibrating the calculated horizontal and vertical print alignment errors comprises calibrating a print position from the second ink cartridge with respect to the first ink cartridge.
The method of claim 16, wherein the operation of calibrating the calculated horizontal and vertical print alignment errors comprises adjusting a time to eject ink from nozzles of the second ink cartridge to calibrate the horizontal print alignment error.
The method of claim 28, wherein the second ink cartridge comprises nozzles through which a print file is printed, and the operation of calibrating the calculated horizontal and vertical print alignment errors comprises moving a position of the print file printed by the nozzles of the second ink cartridge to correspond to the horizontal print alignment error to calibrate the horizontal print alignment error.
The method of claim 28, wherein the second ink cartridge comprises nozzles through which a print file is printed, and the operation of calibrating the calculated horizontal and vertical print alignment errors comprises moving a position of a print file printed by nozzles of the second ink cartridge to correspond to the vertical print alignment error to calibrate the vertical print alignment error.